EP1793477B1 - Fehlertoleranter elektromechanischer Aktuator mit Drehmomentsensor- und Steuerungssystem - Google Patents
Fehlertoleranter elektromechanischer Aktuator mit Drehmomentsensor- und Steuerungssystem Download PDFInfo
- Publication number
- EP1793477B1 EP1793477B1 EP05257430A EP05257430A EP1793477B1 EP 1793477 B1 EP1793477 B1 EP 1793477B1 EP 05257430 A EP05257430 A EP 05257430A EP 05257430 A EP05257430 A EP 05257430A EP 1793477 B1 EP1793477 B1 EP 1793477B1
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- EP
- European Patent Office
- Prior art keywords
- output ram
- motor
- armature
- roller
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0451—Roller spindle drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/205—Screw mechanisms comprising alternate power paths, e.g. for fail safe back-up
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/24—Devices for sensing torque, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Definitions
- the invention relates generally to electromechanical actuators for controlling movement of mechanical components, devices or machines.
- actuators This invention relates to actuators.
- An "actuator” is defined in the Merriam-Webster's Collegiate Dictionary, Tenth Edition as a mechanical device for moving or controlling something. Actuators perform a myriad of functions and enable many modern conveniences.
- actuators to perform many functions during operation of the mobile platform.
- aircraft utilize actuators to control the movement of flaps, spoilers and ailerons in each wing during operation of the aircraft.
- Actuators in the tail of an aircraft control the rudder and elevators, while actuators in the fuselage open and close the doors that cover the landing gear bays.
- actuators are utilized to raise and lower the landing gear of the aircraft and actuators on each engine control thrust reversers by which the plane is decelerated.
- actuators are used in computer disk drives to control the location of the read/write head on which data is stored and read from the disk.
- Actuators are used in robots, i.e., in automated factories to assemble products. Actuators operate brakes on vehicles; open and close doors; raise and lower railroad gates and perform numerous other tasks of everyday life.
- Hydraulic actuators require a pressurized, incompressible working fluid, usually oil.
- Electric actuators use an electric motor, the shaft rotation of which is used to generate a linear displacement using some type of transmission.
- a drawback with hydraulic actuators is the plumbing required to distribute and control the pressurized working fluid.
- a pump that generates high-pressure working fluid and the plumbing required to route the working fluid add weight and increase design complexity because the hydraulic lines must be carefully routed.
- Electric actuators which are powered and controlled by electric energy, require only wires to operate and control but a drawback with prior art electrical actuators can be their reliability. Windings of electrical motors are susceptible to damage from heat and water. Bearings on motor shafts wear out. The transmission between the motor and the load, and which is inherently more complex than the piston and cylinder used in a hydraulic actuator, is also susceptible to wear and tear, and eventually to failure. While electrical actuators have advantages over hydraulic actuators, an electrically-powered actuator that provides increased reliability, would be a significant improvement over the prior art. Fault-tolerance, i.e., the ability to sustain one or more component failures or faults and remain operational, would also provide an improvement over prior art electrical actuators.
- US 4,637,272 discloses a ballscrew actuator with drive units that provide a level of redundancy.
- an electrically-powered linear actuator as defined by claim 1.
- a fault-tolerant, electrically-powered actuator uses two or more, independent integrated motor modules in the same housing to drive an output ram that can be extended from and retracted into a housing that encloses the electric motor modules that drive the ram into and out of the housing.
- the integrated motor module ( FIG. 2 ) is defined as a unit that consists of one or more electric motor armature/field unit that provide the driving function for an engaged or active roller screw nut assembly.
- the roller screw nut assembly ( FIG. 2A ) consists of helical threaded rollers, nut assembly directly coupled to a common screw shaft. The ram's outside surface is threaded.
- the ram can moved into or out of the housing by the rotation of one or more "drive nuts” that engage the threads of the output ram and which are rotated themselves but laterally fixed in place such that the output ram moves laterally on the rotation of the drive nut.
- the "drive nut” is provided by roller screws that make up part of the motor's armature and which engage the threads on the output ram. When this "drive nut” rotates, its rotation causes the output ram to translate, i.e., move into or out of the housing. Reliability and fault tolerance are provided by the multiple motors and a drive nut armature in each motor that enables each motor to be separately disengageable and/or engageable.
- an electromechanical actuator in various embodiments of the present invention is provided.
- the EMA includes a threaded output ram connectable to a mechanical component and at least one motor module engageable with the output ram for controllably translating the output ram along a linear axis of the output ram.
- the actuator further includes a torque sensing adaptive control (TSAC) system for monitoring torque within the motor module.
- the TSAC generates a disengagement command signal when the TSAC system determines torque within the motor module is outside an allowable motor module torque range.
- the disengagement command signal initiates disengagement of the motor module from the output ram.
- the EMA provides a fault tolerant actuator having low cost, accurate torque sensing system to detect friction within a motor module of the EMA to provide reliable redundancy within the EMA to effectively prevent failure of the actuator and potentially hazardous conditions that could result from such a failure.
- the EMA includes a threaded output ram connected to a mechanical component to controllably manipulate movement of the mechanical component.
- the EMA additionally includes a disengageable motor module engageble with the output ram.
- the disengageable motor module is operable to bear a load imparted by the output ram and controllably translate the output ram along a linear axis of the output ram.
- the EMA includes a non-disengageable motor module engaged with the output ram.
- the non-disengageable motor module provides a backup motor module operable to bear the load imparted by the output ram and controllably translate the output ram along a linear axis of the output ram should the disengageable motor module be disengaged from the output ram.
- the EMA includes a torque sensing adaptive control (TSAC) system for monitoring motor module torque within the disengageable motor module. If the TSAC system determines torque within the disengageable motor module is outside a first allowable torque range, the TSAC system initiates disengagement of the disengageable motor module from the output ram. Substantially simultaneously with disengagement of the disengageable motor module, the non-disengageable motor module is energized to bear the load imparted by the output ram and controllably translate the output ram along a linear axis of the output ram.
- TSAC torque sensing adaptive control
- the EMA provides a smooth operating fault tolerant actuator having reliable redundancy to effectively prevent failure of the actuator.
- FIG. 1 is a cross-sectional view of an electrically powered and fault tolerant electrical actuator 10, in accordance with various embodiments.
- the fault tolerant electrical actuator 10 can be utilized in various applications to control the movement of one or more mechanical components, devices or machines.
- the fault tolerant electrical actuator 10 can be implemented in a mobile platform 11, exemplarily shown as an aircraft, to control the movement of mobile platform control mechanisms or surfaces.
- the mobile platform 11 can be an aircraft that utilizes the fault tolerant electrical actuator 10 to control the movement of flaps, spoilers and ailerons in each wing during operation of the aircraft.
- mobile platform 11 is illustratively shown as an aircraft, the mobile platform 11 can be any mobile platform inclusive of, but not limited to, an aircraft, a bus, a train or a ship.
- the actuator 10 is comprises a cylindrically- shaped housing 20 that encloses two or more integrated electrical motor modules (three shown) 24, 30 and 34 that each include a roller nut 32 (or “drive nut”) that can drive an output ram 12, the exterior surface 16 of which is helically threaded.
- Helical threads 18 also referred to as "threads" on the output ram 12 surface are threaded into one or more of the roller nuts 32 within the housing.
- the roller nuts 32 (or “drive nuts”) can engage the threaded output ram 12 and rotate about the output ram 12, but are laterally fixed in the housing, i.e., the roller nuts 32 cannot move along the length of the output ram 12.
- the output ram 12 can be extended from and retracted into the housing simply by controlling the direction of rotation of at least one of the roller nuts 32 that engages the threaded surface 16.
- the roller nut 32 rotation direction is readily changed by the electrical power provided to field windings 26 of the motor modules 24, 30 and 34 that drive the output ram 12.
- the ram 12 has a central axis 14, owing to the fact that it is cylindrically shaped. More particularly, the exterior surface 16 of the output ram 12 includes the helical threads 18, such that the ram 12 can be considered to be "threaded” as is a bolt or screw.
- the helical threads 18 enable the ram 12 to be axially moved by engaging the threads 18 of the output ram 12 with a rotating roller nut 32 of at least one motor module 24, 30 and 34 within the housing 20.
- the roller nut 32 of each motor module 24, 30 and 34 is structured and arranged to rotate about the axis 14 and engage to the threads 18, but is laterally fixed within the respective motor module 24, 30 and 34 in the housing 20.
- roller nuts 32 cannot move along the axis 14 of the output ram 12.
- the pitch of the threads 18 will affect the speed of output ram 18 (i.e., the rate at which it travels axially) as well as the load exerted on each of the motor modules 24, 30 and 34.
- the housing 20 has at least one opening 22 in one end through which the output ram 12 can extend and retract so as to impart control or movement to a mechanical component, device, machine or machine part (not shown in Figure 1 ).
- the actuator 10 includes a double-acting output ram 12.
- the housing 20 includes a second opening 22A opposite the first opening 22.
- the second opening 22A is not shown in Figure 1 .
- Each motor module 24, 30 and 34 has a stator 26, also known as a field or field winding shown in cross section in Figure 1 .
- a stator 26 also known as a field or field winding shown in cross section in Figure 1 .
- application of an electrical current to the field winding 26 will induce one or more magnetic fields that extend into an armature 28 of the respective motor module 24, 30 and 34, thereby causing the armature 28 to rotate.
- an armature is also commonly referred to as a rotor, and the two terms will be used interchangeably herein.
- Each field winding 26 lies against the inside wall of the cylinder-shaped housing 20, which also acts as a heat sink for the motor windings.
- each roller nut 32 functions as a portion of the armature 28 of each motor module 24, 30 and 34. More specifically, the armature 28 of each motor module 24, 30 and 34 includes the roller nut 32 that includes a plurality of threaded rollers 44 engageable with the threads 18 of the output ram 12. The threaded rollers 44 can engage the threads 18 and can rotate about the output ram 12, but are laterally fixed. Therefore, the roller nut 32 of each motor module 24, 30 and 34 acts as the armature 28 caused to rotate by the magnetic field generated by the respective field 26 and drive the output ram 12. The roller nut 32 is capable of selectively being engaged with and disengaged from the threads 18 on the output ram 12.
- the roller nut 32, of each motor module 24, 30 and 34 includes two or more helical-threaded rollers 44 evenly spaced around the output ram 12, and can be engaged with the threads 18 in the output ram 12.
- the rollers 44 are held in place laterally, but are freely rotatable around the ram 12 by way of the roller nut (or cage)32 that is laterally restrained in the housing 20.
- the rollers 44 are engaged with the output ram 12 and the field 26 is energized, the generated magnetic field causes the roller nut 32 to rotate about the output ram 12. Accordingly, the rollers 44 are caused to rotate around the output ram 12 and exert a lateral force along the longitudinal central axis 14 on the threads 18. The lateral force on the threads 18 cause the ram 12 to move laterally along the central axis 14.
- the roller nut 32 includes bearing caps 55 at opposing ends that radially separate two or more, helically-threaded rollers 44 that mate and can be engaged with the threads 18 in the output ram 12.
- the threads of the rollers 44 are sized and shaped to mate with the threads 18 on the surface 16 of the output ram 12 such that the rollers 44 can smoothly rotate about the output ram 12.
- roller thread pitch should match the thread pitch of the output ram 12.
- the electrical representation of one of the motor modules 24, 30 or 34, shown in Figure 3 illustrates that the roller nut 32 with the included rollers 44 functions as an armature.
- the armature 28 has six poles 29 around the axis 14 that correspond to one of a plurality of band sections 51 extending between bearing caps 55. Each pole 29 acts to enclose a roller 44 and provide a path for magnetic lines of flux.
- the armature structure 28, i.e., the roller nut 32 will rotate in response to the magnetic fields created about the armature 28 by the stator 26. Rotation of the roller nut 32 causes the rollers 44 to rotate about the central axis 14.
- the rollers 44 will also rotate about their axes of rotation albeit in the opposite direction than the rotation of the roller nut 32.
- the band sections 51 run parallel to the rollers 44 and carry magnetic flux lines, strengthen the roller nut 32, and help maintain the radial separation between the rollers 44.
- the rollers 44 include journal bearing sections 45 at the ends of each roller 44, a central threaded section 49, and taper sections 43 just inside the journal bearing sections 45.
- the journals bearing sections 45 ride in small bearing holes 53 in the opposing bearing caps 55 at each end of the rollers 44.
- the opposing bearing caps 55 freely rotate about the output ram 12 and do not engage the threads in the output ram 12.
- each of the bearing caps 55 includes a disengaging cam 40 and a ramp and lock mechanism 57 that are interactive with the taper sections 43 of each roller 44 to disengage the respective rollers 44 from the helical threads 18 of the output ram 12.
- the rollers 44 are disengaged using a complementary taper 42 in the ramp and lock mechanisms 57, best seen in Figure 4A , which slides "under” the taper section 43, causing the roller 44 to be lifted upward, disengaging the roller 44 from the output ram 12.
- the bearing caps 55, i.e., the ramp and lock mechanisms 57, of a motor module 24, 30 and/or 34 are urged toward each other to disengage the respective rollers 44 if the respective motor module 24, 30 and/or 34 fails.
- the fault-tolerant electromechanical actuator or "EMA” 10 generates signals such as voltage, current, speed and position of the armature/roller nut 32.
- the EMA 10 includes at least one torque sensing adaptive controller (TSAC) system 36, shown in Figure 12, that monitors such things as the voltage, current and armature speed of each motor module 24, 30 and 34, and output ram position to detect when an improper torque is being developed by one or more of the motor modules 24, 30 and/or 34.
- TSAC system can detect improper torque caused by excessive friction, indicative of fouling or failure a motor module 24, 30 or 34 that is engaged with the output ram 12, by sensing an unusually- high current drawn by the respective motor module 24, 30 and/or 34.
- the friction torque of a motor module 24, 30 or 34 is equal and opposite to the torque applied by the magnetic field generated by the stator 26, unless the applied torque is larger than the stiction torque.
- the stiction torque is the torque at the moment of breakaway and is larger than the Coulomb torque. If a motor module 24, 30 and/or 34 fails, e.g., a motor module 24, 30 and/or 34 binds, jams, is contaminated or has excessive wear, improper, e.g., excessive, frictional or stiction torque is detected by the TSAC system 36.
- the EMA 10 will be described herein as including a plurality of TSAC systems 36 such that a separate, independent TSAC system 36 monitors a respective one of motor modules 24, 30 and 34. However, it should be understood that alternatively, the EMA 10 can include a single TSAC system to substantially simultaneously monitor all the motor modules 24, 30 and 34. Additionally, the TSAC systems 36 can be mounted inside the housing 20 or located remotely from the EMA 10.
- the respective TSAC system 36 activates a disengagement actuation device 38, e.g., an electromagnetic coil or piezo electric device, causing a disengaging cam 40 to laterally move the ramp and lock mechanism 57 along the axis 14, thereby disengaging the rollers 44 by lifting the rollers 44 away from the output ram 12.
- a disengagement actuation device 38 e.g., an electromagnetic coil or piezo electric device
- the ramp and lock mechanism 57 retains the rollers in the disengaged position. More particularly, the ramp and lock mechanism includes a first locking finger 46 that interlocks with a second locking finger 48 in a locking portion 31 of the roller nut 32 when the ramp and lock mechanism 57 is in the second position, whereby the rollers 44 are disengaged from the output ram 12, as shown in Figures 4A and 4B .
- the ramp and lock mechanism 57 moves inward, the interaction between the ramp and lock complementary taper 42 and the roller tapered portion 43 lifts the roller away from the output ram 12. Furthermore, as the ramp and lock mechanism moves inward, the distal ends of the first and second fingers 46 and 48 are moved out of contact with each other and into locking recesses 46A and 46B. Thus, the ramp and lock mechanism 57 is moved to the second position whereby the first and second fingers 46 and 48 are interlocked.
- the disengagement actuation device 38 provides lateral movement of the ramp and lock mechanisms 57 along the axis 14 to lift the rollers 44 from engagement with the output ram 12 and interlock the ramp and lock mechanisms first and second fingers 46 and 48.
- the rollers 44 of a motor module 24, 30 and/or 34 can be disengaged from the output ram 12 when the rollers 44 are lifted away from the threads 18, allowing the roller nut 32 to rotate freely about the output ram 12.
- the rollers 44 are lifted away from the threads 18 using the tapered sections 43 between the straight journal section 45 and the threaded section 49.
- the complementary taper 42 in the ramp and lock mechanisms 57 are forced against and under the tapered sections 43, the rollers 44 are moved radially outward, away from the output ram 12 and out of engagement with the threads 18.
- a motor can be disengaged from the thread 18 in the output ram 12 when the rollers 44 are lifted away from the threads 18, allowing the cage 50 to rotate freely about the output ram 12.
- the rollers 44 can be lifted away from the thread 18 using the tapered sections 43 (shown in FIG. 2 ) between the straight journal section 45 and the threaded section 49.
- a complementary taper in the bearing caps 55-1 and 55-2 or in a clutch mechanism is forced under and against the tapered sections 43, a taper that slides under the tapered sections 43 will cause the roller screws 44 out of engagement with the thread 18.
- a failed motor is disengaged from the output ram 12 when a motor fails using the tapered section 43 and a complementary taper in the bearing cap 55-1 and 55-2 or a clutch.
- a roller 44 that is initially disengaged using the tapered sections can thereafter be engaged to the thread 18 by backing a complementary taper away from the taper section 43 in the roller 44.
- a failed motor is disengaged as describe above with a back-up or motor being engaged to the output ram 12 by lowering the rollers so that it can operate the actuator 10.
- FIG. 4 better illustrates the ramp and lock mechanism 57 at both ends of the cage 50, which prevent the cage 50 from moving laterally.
- complementary tapers 58 in the ramp and lock mechanism 57 will lift the roller screw 44 out of engagement if the ramp and lock mechanism 57 is urged toward the roller screw 44.
- the displacement of the ramp and lock mechanism is controlled by an electromagnetic actuator and microprocessor.
- Whether the ram 12 extends away from the housing 20 or retracts into the housing 20 is determined by the armature's rotation direction.
- the armature's rotation direction is in turn determined electrically. Therefore, the output ram 12 of the actuator 10 can be moved in different directions simply by changing the electrical power source.
- the TSAC system 36 of the respective motor module 24, 30 or 34 applies a voltage/current to a coil 90 of the respective disengagement actuation device 38.
- the coil 90 becomes an electromagnet and produces a magnetic line of flux that is transferred through small air gaps in a thrust bearing 91 to an opposing magnetic field on the ramp and lock mechanisms 57.
- the magnetic flux builds causing the ramp and lock mechanisms 57 to move such that the rollers 44 are lifted upward and away from contacting the threads 18 of the output ram 12.
- the ramp and lock mechanisms 57 is locked in place eliminating the respective motor module 24, 30 or 34 from contact with the output ram 12.
- the ramp and lock mechanisms 57 is free of any magnetic contact with the electrical coil 90 and the rollers 44 are fully engaged with the output ram 12.
- the roller nuts 32 i.e., the rollers 44, of all of the motor modules 24, 30 and 34 in the housing 20 are powered and engaged with the threads 18 in the output ram 12, also referred to herein as the motor modules being engaged with the output ram 12. Therefore, all the motor module(s) 24, 30 and 34 are operating to provide torque used to move the output ram 12 laterally along the axis 14 and share the load presented by the output ram 12. When one or more of the motor modules 24, 30 and/or 34 fails, the respective roller nut(s) 32 is/are disengaged from the output ram 12.
- the TSAC system 36 of a failing motor module 24, 30 or 34 senses an improper torque level
- the TSAC system 36 activates the ramp and lock mechanisms 57 of the respective motor module 24, 30 and/or 34 to disengage the respective roller nut 32 from the output ram 12.
- the roller nut 32 of the failing motor module(s) 24, 30 and/or 34 is/are disengaged, also referred to herein as disengaging the motor module
- the other motor module(s) 24, 30 and/or 34 that remain engaged with the output ram 12 and operating substantially seamlessly assume the load exerted by the output ram 12 without interference from the disengaged motor module 24, 30 and/or 34.
- all of the motor modules 24, 30 and 34 are engaged with the output ram 12, but only one motor module 24, 30 or 34 is powered, i.e., operating, to provide torque used to move the output ram 12 laterally along the axis 14.
- the other motor module(s) 24, 30 or 34 are not operating to drive the load presented by the output ram 12.
- the additional engaged, but non-operational, motor module(s) 24, 30 or 34 is/are available as a "back-up" or redundant motor module(s).
- the driving motor module 24, 30 or 34 fails, the ramp and lock mechanisms 57 of the failing motor module 24, 30 or 34 is activated to disconnect the respective roller nut 32 from the threads 18 of the output ram 12.
- the TSAC system 36 of the failing driving motor module 24, 30 or 34 senses an improper torque level
- at least one engaged, but non-operating redundant motor module(s) 24, 30 and/or 34 is/are put into operation and the ramp and lock mechanisms 57 of the failing driving motor module 24, 30 or 34 is activated to disengage the respective rofler nut 32.
- the newly activated redundant motor module(s) 24, 30 and/or 34 that is/are put into operation substantially seamlessly assume(s) the load exerted by the output ram 12 without interference from the disengaged motor module 24, 30 or 34.
- two or more motor modules 24, 30 and 34 are engaged with the output ram 12 and powered. Therefore, two or more of the motor modules 24, 30 and 34 are operating to provide torque used to move the output ram 12 laterally along the axis 14 and share the load presented by the output ram 12.
- a single additional motor module 24, 30 or 34 is also engaged with the output ram 12, but is not operating to drive the load presented by the output ram 12.
- the additional engaged, but non-operational motor module 24, 30 or 34 is available as a "back-up" or redundant motor module.
- the ramp and lock mechanisms 57 of the failing motor module 24, 30 or 34 is activated to disconnect the respective roller nut 32 from the output ram 12.
- the TSAC system 36 of the failing driving motor module 24, 30 or 34 senses an improper torque level
- the engaged, but non-operating redundant motor module 24, 30 or 34 is activated and the roller nut 32 of the failing driving motor modules 24, 30 or 34 is disengaged.
- the newly activated redundant motor module 24, 30 or 34 that is put into operation substantially seamlessly assume(s) the load exerted by the output ram 12 without interference from the disengaged motor module 24, 30 or 34.
- only one motor module 24, 30 or 34 is engaged with the output ram 12 and bears the entire load exerted by the output ram 12.
- the additional disengaged, non-operational motor module(s) 24, 30 or 34 is/are available as a "back-up" or redundant motor module(s).
- the ramp and lock mechanisms 57 of the failing motor module 24, 30 or 34 is activated to disconnect the respective roller nut 32 from the output ram 12.
- the roller nut(s) 32 of the disengaged, non-operating motor module(s) 24, 30 or 34 is/are engaged with the output ram 12 and the roller nut 32 of the failing driving motor module 24, 30 or 34 is disengaged. Accordingly, the newly activated redundant motor module(s) 24, 30 or 34 that is/are put into operation substantially seamlessly assume(s) the load exerted by the output ram 12 without interference from the disengaged motor module 24, 30 or 34.
- one or more of the motor modules 24, 30 and/or 34 is/are initially disengaged.
- the disengagement actuation device 38 of the disengaged, redundant, motor module(s) 24, 30 and/or 34 is activated to hold complementary tapers 94 of the ramp and lock mechanisms 57 under the roller tapered sections 43 and retain the roller nut 32 in the disengaged position.
- the disengagement actuation device 38 is deactivated such that the complementary tapers 94 of the ramp and lock mechanisms 57 are moved out from under the roller tapered sections 43.
- one or more biasing devices e.g., springs
- the roller nut 32 of the respective motor module 24, 30 or 34 is engaged with the output ram 12. That is, the motor module 24, 30 or 34 is engaged and able to provide torque used to move the output ram 12 laterally along the axis 14.
- Whether the output ram 12 extends away from the housing 20 or retracts into the housing 20 is determined by the direction of rotation of the roller nut(s) 32, i.e., the armature 28(s), of the motor module(s) 24, 30 and/or 34 engaged with and driving the output ram 12.
- the rotational direction of the roller nut(s) 32 is determined electrically. Therefore, the extension or retraction of the output ram 12 of the actuator 10 is determined by controlling the power source of the motor modules 24, 30 and 34. More specifically, the power source is controlled such that the rotational direction of each motor module 24, 30 and 34 is controlled, thereby controlling whether the output ram is extended from or retracted into the housing 20.
- the rotational speed of the roller nut(s) 32 around the output ram 12 can be determined electrically. Therefore, the speed at which the output ram 12 is extended or retracted, can be determined electrically.
- thread pitch of the output ram 12 will affect the displacement speed of the output ram 12. While a greater number of threads per inch will require more motor revolutions per unit of linear displacement, a greater number of the threads per inch will also increase the amount of force exerted by the driving motor module(s) 24, 30 and/or 34 on the output ram 12.
- the motors are stepper motors.
- the output ram 12 can be engaged and disengaged from the rotor 28 depending on whether the rollers 44 in the armature cage are initially engaged or disengaged with the threads of the output ram 12.
- the rollers 44 can be disengaged from the output ram and hence the motor 24 disengaged from the output ram 12, by sliding the tapered surface 42 against the tapered sections 43 of the roller screw 44. In so doing, the roller screw 44 is lifted out of engagement with the output ram 12, physically disconnecting the motor from the output ram 12.
- the ramp and lock mechanism 57 is forced along the axis of the roller and against the roller 44 by either a mechanical or electrical clutch (not shown), which will force the tapered surface 42 against the roller screw taper 43 or pull the thrust bearing away from the taper section 43, depending on whether the motor is to be disengaged or engaged from the output ram 12.
- a mechanical or electrical clutch not shown
- the other motor can be engaged with the output ram 12.
- the tapered surface face 42 should be considered to be a roller-engaging/roller-disengaging mechanism that operably couples and de-couples an armature/rotor of a motor with the helical thread and the output ram.
- the thrust bearing, and/or its tapered surfaces in combination with the tapered section of the roller screw act as a mechanism for engaging or disengaging the motors from the output ram 12.
- hydraulic and electrical actuators perform myriad tasks.
- the electrically powered linear actuator described above can be used in a variety of applications.
- a "journal” is a spindle or shaft that turns in a bearing.
- a distal end 62 of the output ram 12 of the electrically powered linear actuator 10 is attached to a journal 60 of a crank arm 68.
- the journal 60 is rotationally accommodated by an opening in the output ram 12 such that the journal 60 can rotate within the opening as the output ram 12 reciprocates, i.e., extends and retracts, as shown by reference numeral 64.
- the displacement of the journal 60 at the end of the crank arm 68 will in turn cause a drive shaft 70 of a mechanical component, device, machine or machine part controlled by the actuator 10 to oscillate about its axis of rotation, as indicated by reference number 72.
- FIG. 1 illustrates three motor modules, i.e., motor modules 24, 30 and 34, included in the actuator 10, it should be understood that the invention should not be so limited.
- the actuator 10 can include two or more motor modules such as motor modules 24, 30 and 34. It should further be understood that each motor module included in the actuator 10 are functionally and structurally substantially similar, such that the structural and functional description herein is applicable to each and every motor module of the actuator 10.
- the complementary tapers 94 of the ramp and lock mechanisms 57 in combination with the tapered sections 43 of each roller 44 should be considered to be a roller-engaging/roller-disengaging mechanism that operably engages and disengages the roller nuts 32 a motor module 24, 30 or 34 from the output ram 12.
- Aircraft are well known to have wings that are attached to a fuselage. Control surfaces in the wings control the rate of climb and descent, among other things.
- the tail section attached to the rear of the fuselage provides steering and manoeuvrability.
- An engine provides thrust and can be attached to the plane at the wings, the tail or the fuselage.
- the actuator 10 can be utilized to control the movement of flight control surfaces in the wings, tail, landing gear, landing gear bay doors and engine thrust reversers of aircraft.
- the output end 62 of the output ram 12 can be coupled to a pivot point 74 of a control surface 76 of an aircraft (not shown for clarity, but well known in the art).
- Translation lateral movement along the axis 14
- the control surface 76 e.g., spoilers, flaps, elevators, rudder or ailerons
- Similar translation can control other flight control surfaces, fuselage doors, landing gear and/or thrust reverses.
- the safety and reliability of an aircraft might therefore be improved by using the actuator 10 within a wing, fuselage or tail section as needed to operate flight control surfaces, landing gear, landing gear doors as well as an engine thrust reverser.
- the output ram 12 extends through both ends of the actuator housing 20.
- One side or end of the output ram 12-1 is connected to a first machine part 80, e.g., linkage of a first steerable wheel of a vehicle.
- the other side or end 12-2 is connected to a second machine part 82, e.g., linkage of a second steerable wheel of the vehicle.
- the first and second machine parts 80 and 82 e.g., the first and second wheels, rotate upon the pivot points or axes 86, 88.
- electrically powered linear actuator would include use as a power source for a lift for a door by appropriately coupling the output ram 12 to the mechanisms to which loads could be lifted and doors opened.
- the ease with which the output ram 12 direction and speed can be changed are some of the significant advantages that the actuator 10 has over prior art hydraulic actuators. Fault-tolerance, and hence reliability, of the actuator 10 is achieved by having multiple motor modules 24, 30 and/or 34 able to drive the output ram 12, such that if a motor module 24, 30 or 34 fails, the failed motor module 24, 30 or 34 can be disengaged and one or more redundant motor module 24, 30 and/or 34 employed to substantially seamlessly assume the load.
- the electrically powered, fault tolerant linear actuator 10 can be realized.
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
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Claims (8)
- Elektrisch angetriebener Linearaktor (10), der Folgendes aufweist:- eine zylindrische Stellstange (12), die eine Zentralachse (14) und eine, von einem helikalen Gewinde umschriebene, Außenfläche aufweist;- ein Gehäuse (20) mit einer ersten Öffnung, durch die die Stellstange aus- und eingefahren wird;- einen ersten Elektromotor (24), der in dem Gehäuse befestigt ist, wobei der erste Motor um die Stellstange herum einen ersten Stator (26) und innerhalb des Stators einen ersten Anker (28) aufweist, der um die Achse der Stellstange (12) rotiert, wobei der erste Anker eine erste Rolle umfasst, die drehbar in das helikale Gewinde eingreift ohne sich axial entlang der Stellstangenachse (14) zu bewegen, so dass eine Drehung des ersten Ankers ein Drehen der ersten Rolle (32) in dem helikalen Gewinde der Stellstange (12) bewirkt und hierdurch ein Einfahren der Stellstange in oder ein Ausfahren der Stellstange aus dem Gehäuse (20) herbeiführt;- einen zweiten Elektromotor (30), der in dem Gehäuse befestigt ist, wobei der zweite Motor um die Stellstange herum einen zweiten Stator (26) und innerhalb des zweiten Stators einen zweiten Anker (28) aufweist, der um die Achse der Stellstange (12) rotiert, wobei der zweite Anker eine zweite Rolle umfasst, die lösbar und drehend in das helikale Gewinde eingreift ohne sich axial entlang der Stellstangenachse (14) zu bewegen, so dass eine Drehung des zweiten Ankers ein Drehen der zweiten Rolle in dem helikalen Gewinde der Stellstange (12) bewirkt und hierdurch ein Einfahren der Stellstange in oder ein Ausfahren der Stellstange aus dem Gehäuse (20) herbeiführt; und- einen Ankerfreigabemechanismus (40), der mit der ersten Rolle und/oder der zweiten Rolle wirkverbunden und so betreibbar ist, dass die erste oder zweite Rolle von der Stellstange (12) gelöst wird, um den zugehörigen Anker (28) bei einem Versagen des zugehörigen Motors (24, 30) von dem helikalen Gewinde der Stellstange abzukoppeln,wobei der erste und der zweite Motor (24, 30) als Schrittmotoren ausgebildet sind.
- Elektrisch angetriebener Linearaktor nach Anspruch 1, der ferner einen dritten Elektromotor (34) aufweist, der im Gehäuse (20) befestigt ist, wobei der dritte Motor (34) um die Stellstange herum einen dritten Stator und innerhalb des dritten Stators einen dritten Anker aufweist, der um die Achse der Stellstange rotiert, wobei der dritte Anker eine dritte Rolle (32) umfasst, die lösbar in das helikale Gewinde (18) eingreift ohne sich axial entlang der Stellstangenachse zu bewegen, wobei der dritte Anker so gefasst ist, dass dessen axiale Bewegung entlang der Stellstangenachse unter Zulassung einer Drehung um die Stellstangenachse unterbunden ist,
wobei eine Rotation des dritten Ankers, wenn der dritte Anker in die Gewindeoberfläche der Stellstange eingreift, ein Drehen der dritten Rolle in dem helikalen Gewinde der Stellstange bewirkt und hierdurch ein Einfahren der Stellstange (12) in oder ein Ausfahren der Stellstange aus dem Gehäuse herbeiführt; und wenigsten einen Ankerfreigabemechanismus, der mit dem ersten Anker und/oder dem zweiten Anker und/oder dem dritten Anker wirkverbunden und so betreibbar ist, dass die erste, zweite oder dritte Rolle (32) von der Stellstange (12) gelöst wird, um den zugehörigen Anker von der Stellstange abzukoppeln. - Elektrisch angetriebener Linearaktor nach Anspruch 1 oder 2, worin die zylindrische Stellstange (12) ein distal zum Gehäuse (20) angeordnetes Stellende aufweist, und worin der elektrisch angetriebene Linearaktor mit dem Stellende der Stellstange (12) verbunden ferner zumindest eines von Folgendem aufweist:- einen Achsschenkel (60), dessen lineare Auslenkung eine Drehung eines Maschinenteils bewirkt;- ein Steuerruder eines Luftfahrzeugs;- ein Lenkrad für ein Fahrzeug;- einen Lift; und- eine Tür.
- Aktor nach einem der vorhergehenden Ansprüche, der ein System (36) zur adaptiven Steuerung mit Drehmomenterfassung (TSAC) zum Überwachen der Motormoduldrehmomente der Elektromotoren (24, 30) und zum Erzeugen eines Freigabeanweisungssignals zum Initiieren eines Entkoppelns eines Ankers von der Stellstange (12), wenn sich das Drehmoment innerhalb des entsprechenden Elektromotors außerhalb eines zulässigen Motordrehmomentbereichs befindet.
- Luftfahrzeug, das Folgendes aufweist:a) zwei Tragflächen, von denen jede eine aktorsteuerbare Flugsteuerfläche aufweist;b) einen Rumpf, an dem die Tragflächen befestigt sind;c) einen am Rumpf befestigten Heckabschnitt, der wenigstens eine aktorsteuerbare Flugsteuerfläche aufweist;d) wenigstens einen Motor, der zumindest mit beiden Tragflächen und/oder dem Rumpf und/oder dem Heckabschnitt verbunden ist; unde) einen elektrisch angetriebenen, fehlertoleranten Aktor nach einem der vorhergehenden Ansprüche, der mit zumindest einer der aktorsteuerbaren Flugsteuerflächen wirkverbunden ist.
- Fahrzeug, das Folgendes aufweist:a) eine Karosserie;b) zumindest ein mit der Karosserie verbundenes Lenkrad;c) einen elektrisch angetriebenen, fehlertoleranten Aktor nach einem der Ansprüche 1 bis 4, der mit dem zumindest einem Lenkrad wirkverbunden ist.
- Verfahren zum Vorsehen einer Fehlertoleranz für einen linearen Aktor, das Folgendes aufweist:- Bereitstellen eines elektrisch angetriebenen Linearaktors, wie er in einem der Ansprüche 1 bis 4 beansprucht ist;- Antreiben der Stellstange (12) unter Verwendung von zumindest dem ersten und dem zweiten Elektromotor (24, 30);- mechanisches Abkoppeln des ersten Motors von der Stellstange (12) durch Lösen der ersten Rolle aus dem Eingriff in das helikale Gewinde der, wenn der erste Motor versagt; und- Weiterführen des Aktorbetriebs unter Verwendung des zweiten Motors (30).
- Verfahren zum Vorsehen einer Fehlertoleranz für einen linearen Aktor, das Folgendes aufweist:- Bereitstellen eines elektrisch angetriebenen Linearaktors, wie er in einem der Ansprüche 1 bis 4 beansprucht ist;- Antreiben der Stellstange (12) unter Verwendung des ersten Motors (24);- mechanisches Abkoppeln des ersten Motors von der Stellstange (12) durch Lösen der ersten Rolle aus dem Eingriff in das helikale Gewinde der Stellstange, wenn der erste Motor versagt; und- Verbinden des zweiten Motors (30) mit der Stellstange; und- Weiterführen des Aktorbetriebs unter Verwendung des zweiten Motors.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP05257430A EP1793477B1 (de) | 2005-12-02 | 2005-12-02 | Fehlertoleranter elektromechanischer Aktuator mit Drehmomentsensor- und Steuerungssystem |
AT05257430T ATE545977T1 (de) | 2005-12-02 | 2005-12-02 | Fehlertoleranter elektromechanischer aktuator mit drehmomentsensor- und steuerungssystem |
Applications Claiming Priority (1)
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EP05257430A EP1793477B1 (de) | 2005-12-02 | 2005-12-02 | Fehlertoleranter elektromechanischer Aktuator mit Drehmomentsensor- und Steuerungssystem |
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EP1793477A1 EP1793477A1 (de) | 2007-06-06 |
EP1793477B1 true EP1793477B1 (de) | 2012-02-15 |
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EP05257430A Active EP1793477B1 (de) | 2005-12-02 | 2005-12-02 | Fehlertoleranter elektromechanischer Aktuator mit Drehmomentsensor- und Steuerungssystem |
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AT (1) | ATE545977T1 (de) |
Cited By (1)
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RU199072U1 (ru) * | 2020-02-21 | 2020-08-12 | Общество с ограниченной ответственностью "Космик" | Дублирующий модуль исполнительных механизмов для беспилотного гироплана |
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FR2932855B1 (fr) * | 2008-06-18 | 2014-04-11 | Snecma | <p>SYSTEME DE DECHARGE D'AIR POUR COMPRESSEUR DE TURBOMACHINE AERONAUTIQUE</p> |
US7956606B2 (en) | 2008-06-24 | 2011-06-07 | Woodward Hrt, Inc. | Position sensing assembly |
DE102009027418A1 (de) * | 2009-07-02 | 2011-01-05 | Zf Friedrichshafen Ag | Elektromechanische Linearstelleinheit |
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US9482180B2 (en) * | 2012-05-24 | 2016-11-01 | The Boeing Company | Thrust reverser system |
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FR3061136B1 (fr) * | 2016-12-23 | 2019-05-24 | Safran Electronics & Defense | Actionneur electromecanique de surface mobile de vol |
US10800386B2 (en) | 2017-07-24 | 2020-10-13 | Goodrich Corporation | Brake position system |
US10493962B2 (en) | 2017-07-24 | 2019-12-03 | Goodrich Corporation | Brake position system |
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CN115836466A (zh) | 2020-02-28 | 2023-03-21 | 莫戈公司 | 容错多旋转致动器组件 |
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2005
- 2005-12-02 AT AT05257430T patent/ATE545977T1/de active
- 2005-12-02 EP EP05257430A patent/EP1793477B1/de active Active
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RU199072U1 (ru) * | 2020-02-21 | 2020-08-12 | Общество с ограниченной ответственностью "Космик" | Дублирующий модуль исполнительных механизмов для беспилотного гироплана |
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ATE545977T1 (de) | 2012-03-15 |
EP1793477A1 (de) | 2007-06-06 |
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